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<div class="title">poses_from_matches.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_POSES_FROM_MATCHES_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_POSES_FROM_MATCHES_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/correspondence.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1_poses_from_matches.html">   51</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_poses_from_matches.html">PosesFromMatches</a></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="comment">// =====CONSTRUCTOR &amp; DESTRUCTOR=====</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_poses_from_matches.html#a2ca9f2dec25a2d46577386b59fc6c574">   56</a></span>&#160;<span class="comment"></span>      <a class="code" href="classpcl_1_1_poses_from_matches.html#a2ca9f2dec25a2d46577386b59fc6c574">PosesFromMatches</a>();</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_poses_from_matches.html#a036eef11e4590abb7fc68138fbdef710">   58</a></span>&#160;      <a class="code" href="classpcl_1_1_poses_from_matches.html#a036eef11e4590abb7fc68138fbdef710">~PosesFromMatches</a>();</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="comment">// =====STRUCTS=====</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structpcl_1_1_poses_from_matches_1_1_parameters.html">   62</a></span>&#160;<span class="comment"></span>      <span class="keyword">struct </span>PCL_EXPORTS <a class="code" href="structpcl_1_1_poses_from_matches_1_1_parameters.html">Parameters</a></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <a class="code" href="structpcl_1_1_poses_from_matches_1_1_parameters.html">Parameters</a>() : max_correspondence_distance_error(0.2f) {}</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keywordtype">float</span> max_correspondence_distance_error;  <span class="comment">// As a fraction</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      };</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html">   69</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html">PoseEstimate</a></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <a class="code" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html">PoseEstimate</a> () : </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          transformation (Eigen::Affine3f::Identity ()),</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          score (0),</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          correspondence_indices (0) </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        {}</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html#a7ede6e883cd051b21625a8f8f20553cf">   77</a></span>&#160;        Eigen::Affine3f <a class="code" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html#a7ede6e883cd051b21625a8f8f20553cf">transformation</a>;   </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html#a40427e2165bb21761fd646d9bed676b1">   78</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html#a40427e2165bb21761fd646d9bed676b1">score</a>;                         </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html#aa7c030fabde0b53b6593aa4d3f60ba5e">   79</a></span>&#160;        std::vector&lt;int&gt; <a class="code" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html#aa7c030fabde0b53b6593aa4d3f60ba5e">correspondence_indices</a>;  </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate_1_1_is_better.html">   81</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate_1_1_is_better.html">IsBetter</a> </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> <a class="code" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html">PoseEstimate</a>&amp; pe1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html">PoseEstimate</a>&amp; pe2)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> pe1.<a class="code" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html#a40427e2165bb21761fd646d9bed676b1">score</a>&gt;pe2.<a class="code" href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html#a40427e2165bb21761fd646d9bed676b1">score</a>;}</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        };</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      };</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="comment">// =====TYPEDEFS=====</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">typedef</span> std::vector&lt;PoseEstimate, Eigen::aligned_allocator&lt;PoseEstimate&gt; &gt; PoseEstimatesVector;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="comment">// =====STATIC METHODS=====</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="comment">// =====PUBLIC METHODS=====</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="comment"></span>      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_poses_from_matches.html#a508fd4ff9f9f6951f3a869365403670e">  100</a></span>&#160;      <a class="code" href="classpcl_1_1_poses_from_matches.html#a508fd4ff9f9f6951f3a869365403670e">estimatePosesUsing1Correspondence</a> (</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          <span class="keyword">const</span> PointCorrespondences6DVector&amp; correspondences,</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          <span class="keywordtype">int</span> max_no_of_results, PoseEstimatesVector&amp; pose_estimates) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_poses_from_matches.html#a51be68448c5172b511e9146e3b589559">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_poses_from_matches.html#a51be68448c5172b511e9146e3b589559">estimatePosesUsing2Correspondences</a> (</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          <span class="keyword">const</span> PointCorrespondences6DVector&amp; correspondences,</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          <span class="keywordtype">int</span> max_no_of_tested_combinations, <span class="keywordtype">int</span> max_no_of_results,</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          PoseEstimatesVector&amp; pose_estimates) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_poses_from_matches.html#a04ca4b95ca0508c228312931eb13dc2d">  115</a></span>&#160;      <a class="code" href="classpcl_1_1_poses_from_matches.html#a04ca4b95ca0508c228312931eb13dc2d">estimatePosesUsing3Correspondences</a> (</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          <span class="keyword">const</span> PointCorrespondences6DVector&amp; correspondences,</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          <span class="keywordtype">int</span> max_no_of_tested_combinations, <span class="keywordtype">int</span> max_no_of_results,</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          PoseEstimatesVector&amp; pose_estimates) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <a class="code" href="structpcl_1_1_poses_from_matches_1_1_parameters.html">Parameters</a>&amp; </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_poses_from_matches.html#ab42fde9301ae044845643a4792aac61d">  122</a></span>&#160;      <a class="code" href="classpcl_1_1_poses_from_matches.html#ab42fde9301ae044845643a4792aac61d">getParameters</a> () { <span class="keywordflow">return</span> parameters_; }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="comment">// =====PROTECTED MEMBER VARIABLES=====</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      Parameters parameters_;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  };</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;}  <span class="comment">// end namespace pcl</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_POSES_FROM_MATCHES_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_poses_from_matches_html"><div class="ttname"><a href="classpcl_1_1_poses_from_matches.html">pcl::PosesFromMatches</a></div><div class="ttdoc">calculate 3D transformation based on point correspondencdes</div><div class="ttdef"><b>Definition:</b> poses_from_matches.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1_poses_from_matches_html_a036eef11e4590abb7fc68138fbdef710"><div class="ttname"><a href="classpcl_1_1_poses_from_matches.html#a036eef11e4590abb7fc68138fbdef710">pcl::PosesFromMatches::~PosesFromMatches</a></div><div class="ttdeci">~PosesFromMatches()</div><div class="ttdoc">Destructor</div></div>
<div class="ttc" id="aclasspcl_1_1_poses_from_matches_html_a04ca4b95ca0508c228312931eb13dc2d"><div class="ttname"><a href="classpcl_1_1_poses_from_matches.html#a04ca4b95ca0508c228312931eb13dc2d">pcl::PosesFromMatches::estimatePosesUsing3Correspondences</a></div><div class="ttdeci">void estimatePosesUsing3Correspondences(const PointCorrespondences6DVector &amp;correspondences, int max_no_of_tested_combinations, int max_no_of_results, PoseEstimatesVector &amp;pose_estimates) const</div></div>
<div class="ttc" id="aclasspcl_1_1_poses_from_matches_html_a2ca9f2dec25a2d46577386b59fc6c574"><div class="ttname"><a href="classpcl_1_1_poses_from_matches.html#a2ca9f2dec25a2d46577386b59fc6c574">pcl::PosesFromMatches::PosesFromMatches</a></div><div class="ttdeci">PosesFromMatches()</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1_poses_from_matches_html_a508fd4ff9f9f6951f3a869365403670e"><div class="ttname"><a href="classpcl_1_1_poses_from_matches.html#a508fd4ff9f9f6951f3a869365403670e">pcl::PosesFromMatches::estimatePosesUsing1Correspondence</a></div><div class="ttdeci">void estimatePosesUsing1Correspondence(const PointCorrespondences6DVector &amp;correspondences, int max_no_of_results, PoseEstimatesVector &amp;pose_estimates) const</div></div>
<div class="ttc" id="aclasspcl_1_1_poses_from_matches_html_a51be68448c5172b511e9146e3b589559"><div class="ttname"><a href="classpcl_1_1_poses_from_matches.html#a51be68448c5172b511e9146e3b589559">pcl::PosesFromMatches::estimatePosesUsing2Correspondences</a></div><div class="ttdeci">void estimatePosesUsing2Correspondences(const PointCorrespondences6DVector &amp;correspondences, int max_no_of_tested_combinations, int max_no_of_results, PoseEstimatesVector &amp;pose_estimates) const</div></div>
<div class="ttc" id="aclasspcl_1_1_poses_from_matches_html_ab42fde9301ae044845643a4792aac61d"><div class="ttname"><a href="classpcl_1_1_poses_from_matches.html#ab42fde9301ae044845643a4792aac61d">pcl::PosesFromMatches::getParameters</a></div><div class="ttdeci">Parameters &amp; getParameters()</div><div class="ttdoc">Get a reference to the parameters struct</div><div class="ttdef"><b>Definition:</b> poses_from_matches.h:122</div></div>
<div class="ttc" id="astructpcl_1_1_poses_from_matches_1_1_parameters_html"><div class="ttname"><a href="structpcl_1_1_poses_from_matches_1_1_parameters.html">pcl::PosesFromMatches::Parameters</a></div><div class="ttdoc">Parameters used in this class</div><div class="ttdef"><b>Definition:</b> poses_from_matches.h:63</div></div>
<div class="ttc" id="astructpcl_1_1_poses_from_matches_1_1_pose_estimate_1_1_is_better_html"><div class="ttname"><a href="structpcl_1_1_poses_from_matches_1_1_pose_estimate_1_1_is_better.html">pcl::PosesFromMatches::PoseEstimate::IsBetter</a></div><div class="ttdef"><b>Definition:</b> poses_from_matches.h:82</div></div>
<div class="ttc" id="astructpcl_1_1_poses_from_matches_1_1_pose_estimate_html"><div class="ttname"><a href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html">pcl::PosesFromMatches::PoseEstimate</a></div><div class="ttdoc">A result of the pose estimation process</div><div class="ttdef"><b>Definition:</b> poses_from_matches.h:70</div></div>
<div class="ttc" id="astructpcl_1_1_poses_from_matches_1_1_pose_estimate_html_a40427e2165bb21761fd646d9bed676b1"><div class="ttname"><a href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html#a40427e2165bb21761fd646d9bed676b1">pcl::PosesFromMatches::PoseEstimate::score</a></div><div class="ttdeci">float score</div><div class="ttdoc">An estimate in [0,1], how good the estimated pose is</div><div class="ttdef"><b>Definition:</b> poses_from_matches.h:78</div></div>
<div class="ttc" id="astructpcl_1_1_poses_from_matches_1_1_pose_estimate_html_a7ede6e883cd051b21625a8f8f20553cf"><div class="ttname"><a href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html#a7ede6e883cd051b21625a8f8f20553cf">pcl::PosesFromMatches::PoseEstimate::transformation</a></div><div class="ttdeci">Eigen::Affine3f transformation</div><div class="ttdoc">The estimated transformation between the two coordinate systems</div><div class="ttdef"><b>Definition:</b> poses_from_matches.h:77</div></div>
<div class="ttc" id="astructpcl_1_1_poses_from_matches_1_1_pose_estimate_html_aa7c030fabde0b53b6593aa4d3f60ba5e"><div class="ttname"><a href="structpcl_1_1_poses_from_matches_1_1_pose_estimate.html#aa7c030fabde0b53b6593aa4d3f60ba5e">pcl::PosesFromMatches::PoseEstimate::correspondence_indices</a></div><div class="ttdeci">std::vector&lt; int &gt; correspondence_indices</div><div class="ttdoc">The indices of the used correspondences</div><div class="ttdef"><b>Definition:</b> poses_from_matches.h:79</div></div>
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